Remote monitoring system and an autonomous running vehicle and remote monitoring method

ABSTRACT

An autonomous running vehicle transmits a camera image around the vehicle photographed by a camera to a remote monitoring center. An obstacle is detected on the basis of information obtained from autonomous sensors including the camera. When an obstacle is detected, the autonomous running vehicle is automatically stopped. The remote monitoring center determines, when the autonomous running vehicle automatically stops, whether or not the run of the autonomous running vehicle is permitted to restart on the basis of the received camera video. When it is determined that the autonomous running vehicle can be restarted, a departure signal is transmitted to the autonomous running vehicle. When the departure signal is received from the remote monitoring center, the autonomous running vehicle restarts running.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation of U.S. application Ser. No.16/180,092, filed Nov. 5, 2018, which claims priority under 35 U.S.C. §119 to Japanese Patent Application No. 2017-214690, filed Nov. 7, 2017.The entire disclosures of the prior applications are considered part ofthe disclosure of the accompanying continuation application, and arehereby incorporated by reference.

FIELD

Embodiments of the present application relates to the remote monitoringtechnology that remoteness monitors an autonomous running vehicle.

BACKGROUND

A patent document U.S. Pat. No. 9,547,307(B1) discloses a system whichan autonomous running vehicle and a server were connected to through anetwork.

SUMMARY

Generally, the autonomous running vehicle includes a function to detectan obstacle by an autonomous sensor including the camera. However,detective performance of the autonomous sensor is not necessarilysufficient.

Thus, as one method to ensure the safety during autonomous running, amethod in which an image of the on-vehicle camera is sent to a remotemonitoring center and a vehicle is remotely monitored by the remotemonitoring center is proposed. However, it is difficult to constantlyand remotely monitor the vehicle on interruption rate of presentcommunication.

The preferred embodiments have been devised in view of the problemdescribed above, and an object of the preferred embodiments is toprovide a remote monitoring technology that can ensure the safety duringautonomous running of the autonomous running vehicle.

A remote monitoring system according to the preferred embodimentscomprises an autonomous running vehicle and a remote monitoring centerwhich communicates with the autonomous running vehicle through anetwork.

The autonomous running vehicle comprises autonomous sensor, a cameraimage transmitter section, an obstacle detection part, a stop controlunit and a restart control unit. The autonomous sensor is a sensor forrecognizing a peripheral environment of the autonomous running vehicleand at least includes a camera. The camera image transmitter section isconfigured to transmit an image around the autonomous running vehiclephotographed by the camera to the remote monitoring center. The obstacledetection part is configured to detect an obstacle relating to theautonomous running vehicle based on information obtained by theautonomous sensor. The stop control unit is configured to automaticallystop the autonomous running vehicle when an obstacle is detected by theobstacle detection part. The restart control unit is configured torestart a run of the autonomous running vehicle when a departure signalfrom the remote monitoring center is received after automatic stop ofthe autonomous running vehicle by the stop control unit.

The remote monitoring center is configured to determine whether or notthe run of the autonomous running vehicle is restarted based on a cameraimage from the camera image transmitter section when the autonomousrunning vehicle automatically stopped. Also, the remote monitoringcenter is configured to transmit a departure signal to the autonomousrunning vehicle when determining that the run of the autonomous runningvehicle may be permitted to restart.

The remote monitoring system according to the preferred embodiments isconfigured as described above, thereby the autonomous running vehicle isautomatically stopped when the obstacle is detected by the autonomoussensor. If safety is confirmed with the camera image of the autonomousrunning vehicle by a remote monitoring center, a departure signal issent to the autonomous running vehicle from the remote monitoringcenter, and the autonomous running vehicle is restarted. Thus, it canensure safety during autonomous run of the autonomous running vehicle,especially safety at the time of restarting after the automatic stop, byperforming duplex monitoring with the autonomy detection of the obstacleby the autonomous sensor of the autonomous running vehicle and with theremote monitoring by the remote monitoring center.

The stop control unit may be configured to, when an obstacle is detectedby the obstacle detection part, run the autonomous running vehicle atreduced speed and, when the communication with the remote monitoringcenter is interrupted, automatically stop the autonomous runningvehicle. Thereby, during the communication being established between theautonomous running vehicle and the remote monitoring center, theuncomfortable feeling of occupants can be suppressed while improving adetection rate of the autonomous sensor by the run at reduced speed. Andsafety can be secured by automatic stop of the autonomous runningvehicle when the communication between the autonomous running vehicleand the remote monitoring center is interrupted.

The restart control unit may be configured to slow down the autonomousrunning vehicle for predetermined time after restarting the autonomousrunning vehicle. Safety can be secured after restarting by the run atreduced speed for the predetermined time.

The restart control unit may be configured to run the autonomous runningvehicle at reduced speed while the departure signal is received from theremote monitoring center and to stop the autonomous running vehicle whenthe departure signal from the remote monitoring center is interrupted.Because, if the departure signal from the remote monitoring centerstops, the autonomous running vehicle stops, the safety in a state wherethe remote surveillance by the remote monitoring center does notfunction can be secured. There is also an effect that the autonomousrunning vehicle can be immediately stopped by the stop of the departuresignal from the remote monitoring center.

The restart control unit may be configured to restart the autonomousrunning vehicle autonomously, when the obstacle is not detected by theobstacle detection part after automatic stop of the autonomous runningvehicle by the stop control unit. Thereby, when safety is confirmed onside of the autonomous running vehicle even if the communication betweenthe autonomous running vehicle and the remote monitoring center isinterrupted, the autonomous running vehicle can be restarted.

The obstacle detection part may be configured to, when the communicationwith the remote monitoring center is interrupted, change a thresholdvalue of obstacle detection so as to reduce non-detection whereaspermitting erroneous detection compared with the case that thecommunication with the remote monitoring center is established. Thereby,when the communication between the autonomous running vehicle and theremote monitoring center is interrupted, the erroneous detection (thatis, the state wherein an obstacle which there cannot be is detected bymistake) will increase but the non-detection (that is, the state whereinan obstacle which there should be is not detected) can be reduced bychanging the threshold value of the obstacle detection. As a result, itcan ensure the safety in a situation wherein the remote surveillance bythe remote monitoring center does not function.

The remote monitoring center may be configured to, when the autonomousrunning vehicle approaches place of which safety is confirmed with theremote monitoring center, notify the autonomous running vehicle of thesafety of the place. The stop control unit may be further configured to,when the obstacle detection part detects an obstacle in the place ofwhich safety is notified from the remote monitoring center, determinethat the detection of the obstacle is erroneous detection and preventthe autonomous running vehicle from being stopped. Thereby, thefrequency of inessential stop of the autonomous running vehicle due tothe erroneous detection of the obstacle can be reduced.

An autonomous running vehicle according to the preferred embodiments isconnected to a remote monitoring center through a network and can beremotely operated by a remote monitoring center. The autonomous runningvehicle comprises an autonomous sensor, a camera image transmittersection, an obstacle detection part, a stop control unit and a restartcontrol unit. The autonomous sensor is a sensor for recognizing aperipheral environment of the autonomous running vehicle and at leastincludes a camera. The camera image transmitter section is configured totransmit an image around the autonomous running vehicle photographed bythe camera to the remote monitoring center. The obstacle detection partis configured to detect an obstacle relating to the autonomous runningvehicle based on information obtained by the autonomous sensor. The stopcontrol unit is configured to automatically stop the autonomous runningvehicle when an obstacle is detected by the obstacle detection part. Therestart control unit is configured to restart a run of the autonomousrunning vehicle when a departure signal from the remote monitoringcenter is received after automatic stop of the autonomous runningvehicle by the stop control unit.

Thus, it can ensure safety during autonomous run of the autonomousrunning vehicle, especially safety at the time of restarting after theautomatic stop, by performing duplex monitoring with the autonomydetection of the obstacle by the autonomous sensor of the autonomousrunning vehicle and with the remote monitoring by the remote monitoringcenter.

A remote monitoring method according to the preferred embodiments is aremote monitoring method performed in a remote monitoring systemcomprising an autonomous running vehicle and a remote monitoring centercommunicating with the autonomous running vehicle through a network.

The remote monitoring method includes;

-   -   step to transmit an image around the autonomous running vehicle        photographed by a camera to the remote monitoring center from        the autonomous running vehicle;    -   step to autonomously detect an obstacle relating to the        autonomous running vehicle based on information obtained by an        autonomous sensor including at least a camera;    -   step to automatically stop the autonomous running vehicle when        an obstacle is detected by autonomous detection of the        autonomous running vehicle;    -   step in the remote monitoring center to determine, based on a        camera image from the autonomous running vehicle, whether or not        the run of the autonomous running vehicle is restarted when the        autonomous running vehicle automatically stopped;    -   step to, when the remote monitoring center determines that the        run of the autonomous running vehicle may be restarted, send to        the autonomous running vehicle a departure signal for permitting        the autonomous running vehicle to restart; and    -   step to restart a run of the autonomous running vehicle when the        departure signal from the remote monitoring center is received.

According to the remote monitoring method including the above-mentionedsteps, it can ensure safety during autonomous run of the autonomousrunning vehicle, especially safety at the time of restarting after theautomatic stop, by performing duplex monitoring with the autonomydetection of the obstacle by the autonomous sensor of the autonomousrunning vehicle and with the remote monitoring by the remote monitoringcenter.

In the step to automatically stop the autonomous running vehicle, whenan obstacle is detected by autonomy detection of the autonomous runningvehicle, the autonomous running vehicle may run at reduced speed, andthe autonomous running vehicle may automatically stop when thecommunication between the autonomous running vehicle and the remotemonitoring center is interrupted. Thereby, during the communicationbeing established between the autonomous running vehicle and the remotemonitoring center, the uncomfortable feeling of occupants can besuppressed while improving a detection rate of the autonomous sensor bythe run at reduced speed. And, safety can be secured by automatic stopof the autonomous running vehicle when the communication between theautonomous running vehicle and the remote monitoring center isinterrupted.

In the step to restart the run of the autonomous running vehicle, theautonomous running vehicle may run at reduced speed for predeterminedtime after restarting the autonomous running vehicle. Thereby, it canensure the safety after the autonomous running vehicle restarts.

In the step to restart the run of the autonomous running vehicle, theautonomous running vehicle may run at reduced speed only while thedeparture signal from the remote monitoring center is received whereasmay stop when the departure signal from the remote monitoring center isinterrupted. Because, if the departure signal from the remote monitoringcenter is interrupted, the autonomous running vehicle stops, the safetyin a state where the remote surveillance by the remote monitoring centerdoes not function can be secured. There is also an effect that theautonomous running vehicle can be immediately stopped by the stop of thedeparture signal from the remote monitoring center.

In the step to restart the run of the autonomous running vehicle, whenan obstacle is not detected by autonomy detection of the autonomousrunning vehicle after automatic stop of the autonomous running vehicle,the autonomous running vehicle may autonomously restart a run. Thereby,when safety is confirmed on side of the autonomous running vehicle evenif the communication between the autonomous running vehicle and theremote monitoring center is interrupted, the autonomous running vehiclecan be restarted.

The remote monitoring method according to the preferred embodiments mayfurther include step to, when the communication with the remotemonitoring center is interrupted, change a threshold value of obstacledetection so as to reduce non-detection whereas permitting erroneousdetection compared with the case that the communication with the remotemonitoring center is established. The erroneous detection will increasebut non-detection can be reduced by changing the threshold value ofobstacle detection when the communication between the autonomous runningvehicle and the remote monitoring center is interrupted. Therefore, itcan ensure the safety in the situation where the remote surveillance bythe remote monitoring center does not function.

The remote monitoring method may further comprise step to notify theautonomous running vehicle of the safety of the place when theautonomous running vehicle approaches place of which safety is confirmedwith the remote monitoring center. In this case, the autonomous runningvehicle may not stop even if an obstacle is detected by autonomydetection of the autonomous running vehicle in the place of which safetyis notified from the remote monitoring center. Thereby, the frequency ofinessential stop of the autonomous running vehicle due to the erroneousdetection of the obstacle can be reduced.

According to the remote monitoring system, the autonomous runningvehicle and the remote monitoring method of the preferred embodiments,it can ensure safety during autonomous run of the autonomous runningvehicle, especially safety at the time of the restarting after theautomatic stop, by performing duplex monitoring with the autonomydetection of the obstacle by the autonomous sensor of the autonomousrunning vehicle and with the remote monitoring by the remote monitoringcenter.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a view which shows a configuration of a remote monitoringsystem according to the preferred embodiments;

FIG. 2 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of 1st embodiment;

FIG. 3 is a flow chart which shows processing on remote monitoringcenter side for realizing the remote monitoring method of 1stembodiment;

FIG. 4 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of 2nd embodiment;

FIG. 5 is a flow chart which shows processing on remote monitoringcenter side for realizing the remote monitoring method of 2ndembodiment;

FIG. 6 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of 3rd embodiment;

FIG. 7 is a flow chart which shows processing on remote monitoringcenter side for realizing the remote monitoring method of 3rdembodiment;

FIG. 8 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of 4th embodiment;

FIG. 9 is a flow chart which shows processing on remote monitoringcenter side for realizing the remote monitoring method of 4thembodiment;

FIG. 10 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of 5th embodiment;

FIG. 11 is a flow chart showing preliminary processing which isconstantly performed on on-vehicle system side for realizing remotemonitoring method of 6th embodiment;

FIG. 12 is a flow chart showing preliminary processing which isconstantly preformed on remote monitoring center side for realizing theremote monitoring method of 6th embodiment.

FIG. 13 is a flow chart which shows processing on on-vehicle system sidefor realizing the remote monitoring method of 6th embodiment; and

FIG. 14 is a flow chart which shows processing on on-vehicle system sidefor realizing remote monitoring method of reference example.

DESCRIPTION of EMBODIMENTS First Embodiment 1. Configuration of RemoteMonitoring System

A remote monitoring system is a system in which an autonomous runningvehicle and a remote monitoring center are connected to by network. FIG.1 is a view which shows configuration of the remote monitoring system 1according to the preferred embodiments. The configuration of the remotemonitoring system 1 is described with reference to FIG. 1 as follows.Note that configuration of the remote monitoring system 1 describedherein is the configuration to be also common to the 2nd to 7thembodiments described below as well as 1st embodiment.

The remote monitoring system 1 includes the vehicle 10 which is anautonomous running vehicle and the remote monitoring center 4communicating with the vehicle 10 through a network 2 (i.e., uses theInternet). The vehicle 10 is remotely monitored by the remote monitoringcenter 4. The remote monitoring center 4 may remotely monitor onevehicle 10 by exclusive belonging, and may remotely monitor the severalvehicles 10 at the same time.

Unmanned or manned do not matter to the remote monitoring center 4. Inthe remote monitoring center 4, the remote surveillance of the vehicle10 may be carried out by a monitoring person, and the remotesurveillance of vehicle 10 may be performed only by a computer. In casethat the remote surveillance is carried out by a monitoring person, theremote monitoring center 4 is provided with at least a display fordisplaying a transmitted camera image and HMI (Human Machine Interface)by which a watchman indicates to a computer of the remote monitoringcenter 4. In case that the remote surveillance is performed only by acomputer, the computer itself becomes the remote monitoring center 4.

An on-vehicle system of the vehicle 10 is shown in FIG. 1 by blocks. Thevehicle 10 includes autonomous sensors 12, 14 and 16 to recognizeperipheral environment. The autonomous sensors 12, 14 and 16 include acamera 12, a millimeter wave radar 14 and LiDAR (Light Detection andRanging) 16. The camera 12 is required and the millimeter wave radar 14and the LiDAR 16 may be omitted. For example, camera 12 is attached to awindshield of the vehicle 10 to photograph at least a front of a courseof the vehicle 10. The acquired information by the autonomous sensors12, 14 and 16 is sent to a control device 20 installed in the vehicle10.

The control device 20 acquires various information for autonomous runincluding the information from the autonomous sensors 12, 14 and 16 andsignals from the remote monitoring center 4 and operate actuators 32, 34and 36 by operation signals which are obtained by processing theinformation and the signals from the remote monitoring center 4. Atleast a drive actuator 32 to drive the vehicle 10, a braking actuator 34to brake the vehicle 10 and a steering actuator 36 to steer the vehicle10 are included in the actuators 32, 34 and 36.

The various information for autonomous run includes information aboutstate of the vehicle 10 acquired by vehicles sensors such as a vehiclespeed sensor or an acceleration sensor not to illustrate, and the like.Furthermore, the various information for autonomous run includeslocation information acquired by a GPS receiver not to illustrate, whichindicates the position of the vehicle 10, and map information includedin a map database. The signals from the remote monitoring center 4 areacquired by radio communication with a communication unit 18 installedin the vehicle 10. A communication standard of the radio communicationthat the communication unit 18 uses should be a standard of mobilecommunication such as 4G, LTE or 5G, and the like.

Control device 20 is ECU (Electronic Control Unit) having at least oneprocessor and at least one memory. At least one program and various datafor autonomous run are stored in memory. The program stored in memory isread and performed with the processor so that various functions forautonomous run are realized in the control device 20.

The control device 20 calculates travel route making the vehicle 10 runbased on the location information and the map information of the vehicle10 and controls driving, steering and braking of the vehicle 10 so thatthe vehicle 10 runs along the calculated travel route. However, variousmethods to make the vehicle 10 autonomy run along travel route areknown, and the method itself in the preferred embodiments is notlimited. Thus, in the embodiments, the explanation on the method to makethe vehicle 10 autonomy run along the travel route is omitted.

In FIG. 1, functions related to safety securing during autonomousrunning among functions of the control device 20 related to autonomousrunning are expressed by blocks. The illustration of other functionswhich the control device 20 has is omitted. The control device 20 hasfunction to automatically stop when an obstacle having a risk ofcollision with the vehicle 10 is detected and to restart running when itis confirmed that there is no danger of the collision. This function isimplemented by a camera image transmitter section 22, an obstacledetection part 24, a stop control unit 26 and a restart control unit 28which the control device 20 includes. However, these do not exist ashardware in the control device 20 but they are implemented as withsoftware when a program stored in the memory was executed by theprocessor.

The camera image transmitter section 22 transmits an image around thevehicle 10 photographed by the camera 12 to the remote monitoring center4. The transmitted camera image includes at least an image of the frontof the course of the vehicle 10. While the vehicle 10 is stopped by thestop control unit 26 described below, the camera image transmittersection 22 transmits camera image according to a communication cyclebetween the remote monitoring center 4 and the communication unit 18.The camera image transmitted to remote monitoring center 4 is used byremote surveillance around the vehicle 10. The communication cycle maybe fixed or may be changed according to running environment of thevehicle 10. For example, the communication cycle in the lane forexclusive use of automobiles may be extended. Also, the communicationcycle at the intersection with traffic lights may be shortened, and thecommunication cycle at the intersection without traffic light may befurther shortened.

The obstacle detection part detects an obstacle relating to the vehicle10 based on information obtained by the autonomous sensor 12 14 and 16.Particularly, the obstacle having a risk of collision with the vehicle10 in the front of the course of vehicle 10 is detected. Various methodsof detecting an obstacle based on sensor information including cameraimage are known, and the method itself is not limited in the preferredembodiments. For example, an obstacle may be detected only based oncamera image with the camera 12. Also, an obstacle may be detected bythe sensor fusion that combined a plurality of autonomous sensor 12, 14and 16. The obstacle detection part 24 can change the threshold of theobstacle detection. The threshold of the obstacle detection is athreshold value for determining, when there are digital data with apossibility of an obstacle, whether or not it is considered as anobstacle (for example, it is considered as noise).

When an obstacle is detected by the obstacle detection part 24, the stopcontrol unit 26 makes vehicle 10 automatically stopped. Specifically,the stop control unit 26 controls braking force acting on the vehicle 10by the driving actuator 32 and braking actuator 34 so as to stop thevehicle 10 just before the obstacle. Also, the stop control unit 26transmits a vehicle stop signal to the remote monitoring center 4 whenautomatically stopping the vehicle 10. At this time, from camera imagetransmitter section 22, camera image monitoring the periphery of thevehicle 10 photographed by the camera 12 is transmitted to the remotemonitoring center 4.

When a departure signal from the remote monitoring center 4 is receivedafter automatic stop of the vehicle 10 by the stop control unit 26, therestart control unit 28 restarts the running of the vehicle 10. Morespecifically, the restart control unit 28 makes the vehicle 10 go slowlyfor predetermined time after the restarting of the running in order toensure safety. And, after lapse of the predetermined time, the restartcontrol unit 28 makes the vehicle 10 accelerate along predeterminedspeed plan.

In the remote monitoring center 4, when the vehicle 10 automaticallystops, determination is made as to whether or not the running of thevehicle 10 can be restarted based on the camera image from the cameraimage transmitter section 22. In case that the remote surveillance onthe remote monitoring center 4 is performed by a computer, the computer,for example, determines whether or not an obstacle is photographed inthe camera image transmitted from the vehicle 10 based on image data(big data). A judgment based on the image data can use an imageprocessing technology using artificial intelligence. When an obstacle isdetected in the camera image, the computer transmits a departure signalto the vehicle 10. A series of the processing from the reception of thecamera image to the transmission of the departure signal can beperformed by the computer without intervention of a human.

In case that the remote surveillance on the remote monitoring center 4is performed by a monitoring person, the camera image transmitted fromthe vehicle 10 is displayed on a display. The monitoring person viewsthe camera image to confirm the peripheral situation of the vehicle 10.When the monitoring person determined that the running of the vehicle 10can be restarted as a result of confirmation of the camera image, themonitoring person operates HMI and indicates authorization for departureof the vehicle 10 to the computer of the remote monitoring center 4. Thecomputer of the remote monitoring center 4 determines that the runningof the vehicle 10 can be restarted by receiving the departureauthorization and transmits a departure signal to the vehicle 10. Ineach remote monitoring method of the embodiments described below, it issupposed that the remote surveillance is carried out by the monitoringperson.

Remote monitoring method according to 1st embodiment Remote monitoringmethod according to 1st embodiment which can be performed in the remotemonitoring system 1 which has the above configurations will be describedas follows:

The remote monitoring method by the remote monitoring system 1 can beseparately described into processing of in-vehicle system side andprocessing of the remote monitoring center side. FIG. 2 is a flow chartwhich shows processing on the on-vehicle system side for realizing theremote monitoring method of 1st embodiment. FIG. 3 is a flow chart whichshows processing on the remote monitoring center side for realizingremote monitoring method of 1st embodiment.

At first, the processing on the on-vehicle system side will be describedwith reference to FIG. 2. According to the flow chart shown in FIG. 2,peripheral environment is recognized by the autonomous sensor 12, 14 and16 (step S100). The obstacle detection part 24 determines, based on theinformation obtained from the autonomous sensor 12, 14 and 16 in stepS100, whether or not there is an obstacle having a risk of collisionwith the vehicle 10 (step S110). When such an obstacle is not detected,the processing of step S100 and the determination of step S110 arerepeated.

When an obstacle having a risk of collision is detected in step S110,the stop control unit 26 stops the vehicle 10 automatically before theobstacle (step S120). The stop control unit 26 transmits a stop signalto the remote monitoring center 4. The camera image transmitter section22 transmits camera image, which is an image around the vehicle 4photographed by the camera 12, to remote monitoring center 4 (stepS130).

After the stop signal was transmitted to the remote monitoring center 4,the restart control unit 28 determines whether or not a departure signalfrom the remote monitoring center 4 was received (step S140). Thevehicle 10 has stopped until the departure signal is received. Whenreceiving a departure signal from the remote monitoring center 4, therestart control unit 28 performs the processing for departure of thevehicle 10 (step S150), and makes the vehicle 10 run at reduced speedfor the predetermined time after the departure (step S160).

The processing on the remote monitoring center side will be describedwith reference to FIG. 3. According to the flow chart shown in FIG. 3,the remote monitoring center 4 determines whether or not the stop signalfrom the vehicle 10 was received (step S200). The remote monitoringcenter 4 is in the standby state until the stop signal is received.

When receiving the stop signal from the vehicle 10, the camera imagetransmitted by the stopping vehicle is displayed on a display. Themonitoring person views the camera image displayed on the display toconfirm the peripheral situation of the vehicle 10 (step S210). Based onthe confirmation result on the display, the monitoring person determineswhether or not restarting of the vehicle 10 is permitted in thesituation (step S220). In case that the restarting of the vehicle 10cannot be permitted in the situation, the processing of step S210 andthe determination of step S220 are repeated.

The situation in which restarting of the vehicle 10 is permitted is, forexample, the case where a risk of collision goes away by movement of theobstacle or the case where the detection of the obstacle is confirmed tobe a false detection. A case where the stop position of the vehicle 10is before the crosswalk is taken for a specific example. In this case,when it is confirmed that the pedestrian which is the obstacle havesurely finished crossing of the crosswalk, the running can be restarted.When the vehicle 10 is restarted, a departure signal is transmitted fromthe computer of the remote monitoring center 4 to the vehicle 10according to an operation on the HMI by the monitoring person (stepS230).

According to the remote monitoring method performed in theabove-mentioned manner, it can ensure safety during autonomous runningof the vehicle 10, especially safety at the time of restarting after theautomatic stop, by performing duplex monitoring with the autonomydetection of an obstacle by the autonomous sensor 12, 14 and 16 of thevehicle 10 and with the remote monitoring by the remote monitoringcenter 4. Furthermore, according to the remote monitoring method of 1stembodiment, it can ensure the safety after the restarting of the vehicle10 by running at reduced speed without increasing speed until thepredetermined time elapses after the vehicle 10 is brought in thesituation in which the vehicle 10 can be restarted.

2nd Embodiment

Remote monitoring method according to the 2nd embodiment which can beperformed in the remote monitoring system 1 will be described asfollows:

FIG. 4 is a flow chart which shows processing on the on-vehicle systemside for realizing the remote monitoring method of 2nd embodiment. FIG.5 is a flow chart which shows processing on the remote monitoring centerside for realizing the remote monitoring method of 2nd embodiment. Notethat explanation about the processing in each of the flow charts same asthe remote monitoring method of 1st embodiment is simplified or omitted.

At first, processing on the on-vehicle system side is described withreference to FIG. 4. According to the flow chart shown in FIG. 4, whenan obstacle having a risk of collision is detected in step S110, thestop control 26 unit does not make the vehicle 10 automatically stopsuddenly but makes the vehicle 10 go slowly at extremely low speed(e.g., 5 to 6 [km/h]) (step S121). When the vehicle 10 is completelystopped, an occupant may feel it uncomfortable. However, if it is slowdriving but not a stop, the uncomfortable feeling of the occupant can besuppressed.

When the stop control unit 26 makes the vehicle 10 go slowly, the stopcontrol unit 26 transmits a stop signal to the remote monitoring center4 and the camera image transmitter section 22 transmits camera image,which is an image around the vehicle 10 photographed by the camera 12,to remote monitoring center 4 (step S131). The transmission of thecamera image is carried out at a certain period according to acommunication cycle between the remote monitoring center 4 and thecommunication unit 18.

The stop control unit 26 determines whether or not the communicationwith the remote monitoring center 4 is interrupted (step S132). Forexample, the stop control unit 26 determines that the interruption ofthe communication occurs when the signal which should be transmittedfrom the remote monitoring center 4 is not received even if a time-outperiod elapses. While the communication with the remote monitoringcenter 4 is established, the stop control unit 26 keeps the vehicle 10running at the reduced speed (step S134). However, the stop control unit26 makes the vehicle 10 automatically stop when the communication withthe remote monitoring center 4 is interrupted (step S133).

Deterioration of the communication environment, increase in the lineload, and the like, cause the interruption of the communication with thevehicle 10. Also, the remote monitoring center 4 can actively decide tointerrupt the communication. In the remote monitoring center 4, amonitoring person monitors the camera image displayed by the display. In2nd embodiment, when the monitoring person determines there is a risk ofcollision with the obstacle based on the camera image, the monitoringperson operates the HMI so as to actively interrupt the communication.Thereby, the vehicle 10 can be stopped immediately when the monitoringperson determines that there is the risk or that the risk is increasedwhereas the vehicle 10 can run at the reduced speed when the monitoringperson determines that the risk is low. Also, the vehicle 10 can beautomatically stopped when the monitoring person becomes unable tomonitor the camera image by the interruption of the communication.

When the communication with the remote monitoring center 4 isre-established after automatically stop of the vehicle 10, the stopcontrol unit 26 makes the vehicle 10 go slowly (step S134). Even whenthe communication with the remote monitoring center 4 has beeninterrupted for a long time, the stop control unit 26 maintains thevehicle 10 in a stop state so as to give first priority to safety (stepS133). This control is carried out regardless of a place. However, ifthe vehicle 10 is stopping in the intersection, inconvenience is larger.Thus, in the autonomous running control when the vehicle 10 enters theintersection, the control without the need to stop the vehicle 10 in theintersection is performed as much as possible. More specifically, forexample, after confirmed that there are not preceding vehicles likely tobe left behind in an intersection, the vehicle 10 enters theintersection.

After a signal of reduced speed running was transmitted to the remotemonitoring center 4, the restart control unit 28 determines whether ornot a departure signal from the remote monitoring center 4 is received(step S140). The vehicle 10 is kept in a state of running at reducedspeed or in a state of stopping until a departure signal is received.When receiving a departure signal from the remote monitoring center 4,the restart control unit 28 performs the processing for departure of thevehicle 10 (step S150), and makes the vehicle 10 run at reduced speedfor the predetermined time after the departure (step S160).

The processing on the remote monitoring center side will be describedwith reference to FIG. 5. According to the flow chart shown in FIG. 5,the remote monitoring center 4 determines whether or not the stop signalfrom the vehicle 10 was received (step S201). The remote monitoringcenter 4 is in the standby state until the signal of reduced speedrunning is received.

When the signal of reduced speed running from vehicle 10 is received,the camera image which is transmitted from the vehicle 10 running atreduced speed is displayed on the display. The monitoring person viewsthe camera image displayed on the display to confirm the peripheralsituation of the vehicle 10 (step S211). Based on the confirmationresult on the display, the monitoring person determines whether or notrestarting of the vehicle 10 is permitted in the situation (step S220).

When the restart of running is unable, the monitoring person determineswhether or not it is permitted to keep the vehicle 10 running at reducedspeed (step S221). A signal is sent from the remote monitoring center 4to the vehicle 10 at a certain period. Because this signal continues tobe sent if nothing is done, the vehicle 10 keeps running at reducedspeed unless the communication is interrupted by an external factor. Themonitoring person turns off a signal so that the communication betweenthe remote monitoring center 4 and the vehicle 10 is interrupted whendetermined that it is necessary to stop the vehicle 10 (step S222).Thereby, the vehicle 10 which is running at reduced speed stopsautomatically.

The processing from step S210 to step S221 or the processing from stepS210 to step S222 are repeated until safety is confirmed and then therestarting the vehicle 10 is enabled. When determining that therestarting of the vehicle 10 is permitted, the monitoring personoperates the HMI so that a departure signal is transmitted from thecomputer of the remote monitoring center 4 to the vehicle 10 (stepS230).

According to the remote monitoring method of the 2nd embodimentperformed in the above-mentioned procedure, the similar effect as in theremote monitoring method of 1st embodiment can be obtained. Furthermore,according to the remote monitoring method of 2nd embodiment, theuncomfortable feeling of occupants can be suppressed by the reducedspeed running while the communication is established between the vehicle10 and the remote monitoring center 4. The vehicle 10 can be immediatelystopped by a determination of the remote monitoring center 4 when anyproblem occurs in the reduced speed running of the vehicle 10. Safetycan be secured by automatic stop of the vehicle 10 when thecommunication between the vehicle 10 and the remote monitoring center 4is interrupted.

3rd Embodiment

Then, a remote monitoring method of 3rd embodiment that can be performedin the remote monitoring system 1 will be described. FIG. 6 is a flowchart which shows processing on the on-vehicle system side for realizingthe remote monitoring method of 3rd embodiment. FIG. 7 is a flow chartwhich shows processing on the remote monitoring center side forrealizing the remote monitoring method of 3 embodiment. Note thatexplanation about the same processing as the remote monitoring method of1st embodiment in each of the flow charts is simplified or omitted.

At first, processing on the on-vehicle system side is described withreference to FIG. 6. According to the flow chart shown in FIG. 6, when adeparture signal from the remote monitoring center 4 is received in stepS140, the restart control unit 28 performs processing for departure ofthe vehicle 10 (step S150). It is determined whether or notpredetermined time elapses after receiving the first departure signalfrom the remote monitoring center 4 (step S161). The predetermined timemay be changed according to the running environment of the vehicle 10.For example, the predetermined time in the lane for exclusive use ofautomobiles may be shortened. At the intersection, time required for thevehicle 10 to pass through an intersection at reduced speed may be setas predetermined time in the intersection.

If the predetermined time does not elapse after the reception of thefirst departure signal, the restart control unit 28 determines whetheror not a departure signal is continuously received (step S162). When thedeparture signal is continuously received, that is, when the departuresignal is not stopped, the restart control unit 28 makes the vehicle 10run at reduced speed (step S164). The restart control unit 28automatically stops the vehicle 10 when the departure signal is notreceived (step S163).

The processing from step S161 to S163 or the processing from step S161to step S164 is repeated until the predetermined time elapses after thereception of the first departure signal. The restart control unit 28makes the vehicle 10 run at the normal speed along the predeterminedspeed plan after the predetermined time elapses from the reception ofthe first departure signal (step S165).

The processing on the remote monitoring center side will be describedwith reference to FIG. 7. According to the flow chart shown in FIG. 7,after transmitting the departure signal in step S230, the remotemonitoring center 4 determines whether or not the predetermined timeelapses from the transmission of the first departure signal (step S231).The processing and determination from step S210 to step S231 arerepeated until the predetermined time elapses from the transmission ofthe first departure signal. However, In the middle of the repetition ofthe processing, the remote monitoring center 4 stops transmitting thedeparture signal when determined the restarting of the vehicle 10 cannotbe permitted in step S220 (step S232). And then, the remote monitoringcenter 4 finishes the processing according to this flow chart when thepredetermined time passes elapses from the first departure signal.

According to the remote monitoring method of the 3rd embodimentperformed in the above-mentioned procedure, the similar effect as thatof the remote monitoring method of 1st embodiment can be obtained.Furthermore, according to the remote monitoring method of 3rdembodiment, until the predetermined time elapses after restarting of therun, the vehicle 10 stops if the input of the departure signal from theremote monitoring center 4 is interrupted. Therefore, it can ensure thesafety in the situation in which the remote surveillance of the remotemonitoring center 4 does not function. Also, according to the remotemonitoring method of 3rd embodiment, the vehicle 10 can be immediatelystopped by an interruption of transmission of the departure signal fromthe remote monitoring center 4. The remote monitoring method of the 3rdembodiment is suitable for use in remote surveillance in the runningenvironment where scrupulous attention is demanded after restarting of arun. More specifically, the remote monitoring method is suitable for usein remote surveillance of the vehicle 10 at an intersection, especiallyat an intersection without a signal.

4th Embodiment

Then, a remote monitoring method of 4th embodiment that can be performedin the remote monitoring system 1 will be described. FIG. 8 is a flowchart which shows processing on the on-vehicle system side for realizingthe remote monitoring method of 4th embodiment. FIG. 9 is a flow chartwhich shows processing on the remote monitoring center side forrealizing the remote monitoring method of 4th embodiment. Note thatexplanation about the same processing as the remote monitoring method of1st embodiment in each of the flow charts is simplified or omitted.

At first, processing on the on-vehicle system side is described withreference to FIG. 8. According to the flow chart shown in FIG. 8, afterthe stop signal is transmitted to the remote monitoring center 4 in stepS130, the obstacle detection part 24 determines again whether or notthere is an obstacle having a risk of collision around the vehicle 10(step S135). This determination is carried out repeatedly until adeparture signal from the remote monitoring center 4 is received in stepS140. Since the detection accuracy of the autonomous sensor 12, 14 and16 depends on the vehicle speed, when the vehicle 10 is stopped, anobstacle can be detected with higher accuracy than the detectionaccuracy in the determination in step S110.

When the obstacle detection part 24 determines that there is not anobstacle having a risk of collision around the vehicle 10, the restartcontrol unit 28 transmits a vehicle autonomous departure signal to theremote monitoring center 4. The restart control unit 28 autonomouslyperforms departure processing of the vehicle 10 without waiting for thereception of a departure signal from the remote monitoring center 4(step S150). If the restart control unit 28 waits for the departuresignal from the remote monitoring center 4 when communication betweenthe vehicle 10 and the remote monitoring center 4 is interrupted, thevehicle 10 takes forever to restart. Since the vehicle 10 autonomouslyis restarted when safety can be confirmed on the vehicle 10 side, it ispossible to prevent a situation where the vehicle cannot be restartedeven after any time. In case of the autonomously restarting by thedetermination on the vehicle 10 side, the vehicle 10 runs at reducedspeed for the predetermined time after the departure (step S160).

The processing on the remote monitoring center side will be describedwith reference to FIG. 9. According to the flow chart shown in FIG. 9,while the processing of step S210 and the determination of step S220 arerepeated because of being unable to determine restarting the vehicle 10,the remote monitoring center 4 determines whether or not the vehicleautonomous departure signal is received (step S211). The remotemonitoring center 4 skips the remaining steps so as to finish theprocessing in this flow chart when receiving the vehicle autonomousdeparture signal.

According to the remote monitoring method of 4th embodiment performed inthe above-mentioned procedure, the similar effect as in the remotemonitoring method of 1st embodiment can be obtained. Furthermore,according to the remote monitoring method of 4th embodiment, a run ofthe vehicle 10 can be restarted when safety is confirmed on the vehicle10 side even if the communication between the vehicle 10 and the remotemonitoring center 4 is interrupted.

5th Embodiment

Then, a remote monitoring method of 5th embodiment that can be performedin the remote monitoring system 1 will be described. The remotemonitoring method of 5th embodiment is characterized in processing onthe on-vehicle system side. The explanation of the processing on theremote monitoring center side is omitted because the processing is thesame as the processing of the remote monitoring center side in 1stembodiment (cf. FIG. 3). FIG. 10 is a flow chart which shows theprocessing on the on-vehicle system side for realizing the remotemonitoring method of 5th embodiment. Hereinafter, the processing on theon-vehicle system side will be described with reference to FIG. 10.However, explanation about the same processing as the processing on theon-vehicle system side of 1st embodiment in each of the flow charts issimplified or omitted.

According to the flow chart shown in FIG. 10, after the recognition ofthe peripheral environment by the autonomous sensor 12, 14 and 16 isperformed in step S100, the obstacle detection part 24 determineswhether or not the communication with the remote monitoring center 4 isestablished (step S101). The threshold level of the obstacle detectionby the obstacle detection part 24 is variable. If the threshold level israised, the suspicious one as an obstacle is hardly detected as anobstacle whereas if the threshold level is lowered, the suspicious oneas an obstacle is easily detected as an obstacle. Thus, possibility oferroneous detection detecting a noise as an obstacle can be reduced if athreshold level is raised. On the other hand, possibility ofnon-detection wherein an obstacle is not detected even though it is theobstacle in actuality increases.

Therefore, in this embodiment, the threshold level of the obstacledetection is changed depending on a state of the communication with theremote monitoring center 4. Specifically, when the communication withremote monitoring center 4 is established, the obstacle detection part24 sets the threshold value of the obstacle detection to the high levelwhich is normal setting (step S102). On the other hand, when thecommunication with the remote monitoring center 4 is interrupted, theobstacle detection part 24 sets the threshold value of the obstacledetection not to a high level but to a low level (step S103). That is,when the communication with the remote monitoring center 4 isinterrupted, the obstacle detection part 24 changes the threshold valueof the obstacle detection so as to reduce non-detection whereaspermitting erroneous detection compared with the case that thecommunication with the remote monitoring center 4 is established. And,using the threshold value of the level set in step S102 or step S103,the obstacle detection is performed and it is determined whether or notthere is an obstacle having a risk of collision around the vehicle 10(step S110).

According to the remote monitoring method of 5th embodiment performed inthe above-mentioned procedure, the similar effect as in the remotemonitoring method of 1st embodiment can be obtained. Furthermore,according to the remote monitoring method of 5th embodiment, since thethreshold value of the obstacle detection is changed to low level whenthe communication between the vehicle 10 and the remote monitoringcenter 4 is interrupted, the possibility of the “erroneous detection”wherein an obstacle which there cannot be is detected by mistake willincrease. However, the possibility of “non-detection” wherein anobstacle which there should be is not detected can be reduced. As aresult, according to the remote monitoring method of 5th embodiment, thesafety in the situation in which the remote surveillance of the remotemonitoring center 4 does not function can be more reliably secured incomparison with the remote monitoring method of 1st embodiment.

6th Embodiment

Then, a remote monitoring method of 6th embodiment that can be performedin the remote monitoring system 1 will be described. In 6th embodiment,preliminary processing for remote surveillance is constantly carried outon each side of the on-vehicle system and the remote monitoring center.FIG. 11 is a flow chart which shows preliminary processing constantlyperformed on the on-vehicle system side for realizing the remotemonitoring method of 6th embodiment. FIG. 12 is a flow chart which showspreliminary processing constantly performed on the remote monitoringcenter side for realizing the remote monitoring method of 6thembodiment.

As shown in FIG. 11, on the on-vehicle system side, present locationinformation, that is location information of the vehicle 10 acquired byGPS, is transmitted to the remote monitoring center 4 (step S300).

As shown in FIG. 12, on the remote monitoring center side, the presentlocation information transmitted by the vehicle 10 is received (stepS400). The computer of the remote monitoring center 4 collates thereceived present location information with data base and determineswhether or not the present location of the vehicle 10 is in the placethat can secure safety (step S410). Place where the vehicle 10 isautomatically stopped in the past and a confirmation result of safety atthat place are stored in the database. When it is determined that thepresent location of the vehicle 10 is in the place that can securesafety, ON signal of a stop unnecessary flag is transmitted from thecomputer of the remote monitoring center 4 to the vehicle 10 (stepS420). On the other hand, when it is determined that the presentlocation is not in the place that can secure safety, OFF signal of thestop unnecessary flag is transmitted from the computer of the remotemonitoring center 4 to the vehicle 10 (step S430).

Then, a remote monitoring method of 6th embodiment based on the abovedescribed preliminary processing will be described. The remotemonitoring method of 6th embodiment is characterized in processing onthe on-vehicle system side. The explanation of the processing on theremote monitoring center side is omitted because the processing is thesame as the processing of the remote monitoring center side in 1stembodiment (cf. FIG. 3). FIG. 13 is a flow chart which shows processingon the on-vehicle system side for realizing the remote monitoring methodof 6th embodiment. Hereinafter, the processing on the on-vehicle systemside will be described with reference to FIG. 13. However, explanationabout the same processing as the processing on the on-vehicle systemside of 1st embodiment in each of the flow charts is simplified oromitted.

According to the flow chart shown in FIG. 13, when it is determined thatthere is an obstacle having a risk of collision around the vehicle 10 instep S110, the stop control unit 26 determines whether or not the ONsignal of the stop unnecessary flag is received (step S111). When the ONsignal of the stop unnecessary flag is not received, that is, when thepresent location of the vehicle 10 is in the place of which safety isnot notified by the remote monitoring center 4, the stop control unit 26makes the vehicle 10 automatically stopped just before the obstacle(step S120). When the ON signal of the stop unnecessary flag isreceived, that is, when the present location of the vehicle 10 is in theplace of which safety is notified by the remote monitoring center 4, thedetection of the obstacle by the obstacle detection part 24 is likely tobe an erroneous detection. Therefore, the stop control unit 26 continuesthe vehicle 10 running without being stopped. In this case, according tothe flow chat, the processing of step S100 and the determination of stepS110 and S111 are repeated until the result of the determination of S111becomes negative.

According to the remote monitoring method of 6th embodiment performed inthe above-mentioned procedure, the similar effect as in the remotemonitoring method of 1st embodiment can be obtained. Furthermore,according to the remote monitoring method of 6th embodiment, in theplace where the remote monitoring center 4 determines to be safety, thevehicle 10 does not automatically stop even when detecting an obstacleby autonomy detection of the vehicle 10. Therefore, the frequency ofinessential stop of the vehicle 10 due to the erroneous detection of theobstacle can be reduced.

Other Embodiments

In the above-mentioned embodiments, the camera image is transmitted tothe remote monitoring center 4 after an obstacle having a risk ofcollision is detected. However, camera image may be constantlytransmitted to the remote monitoring center 4 during running of thevehicle 10.

An Example

Then, a remote monitoring method of the example that can be performed inthe remote monitoring system 1 will be described. The remote monitoringmethod of the example is characterized in processing on the on-vehiclesystem side. The explanation of the processing on the remote monitoringcenter side is omitted because the processing is the same as theprocessing of the remote monitoring center side in 1st embodiment (cf.FIG. 3). FIG. 14 is a flow chart which shows processing on theon-vehicle system side for realizing the remote monitoring method of theexample. Hereinafter, the processing on the on-vehicle system side willbe described with reference to FIG. 14. However, explanation about theprocessing in the flow chart of FIC. 14 same as the processing on theon-vehicle system side of 1st embodiment is simplified or omitted.

According to the flow chart shown in FIG. 14, when it is determined thatthere is not an obstacle having a risk of collision around the vehicle10 in step S110, the stop control unit 26 determines whether or not thecommunication with the remote monitoring center 4 is interrupted (stepS112). When the communication with the remote monitoring center 4 isestablished, the processing of step S100 and determinations of stepsS110 and S112 are repeated while the running of the vehicle 10 iscontinued.

However, the stop control unit 26 makes the vehicle 10 automaticallystop when the communication with the remote monitoring center 4 isinterrupted (step S113). The stop control unit 26 transmits a stopsignal to the remote monitoring center 4. The camera image transmittersection 22 transmits camera image, which is an image around the vehicle4 photographed by the camera 12, to remote monitoring center 4 (stepS130).

After the stop signal was transmitted to the remote monitoring center 4,the restart control unit 28 determines whether or not a departure signalfrom the remote monitoring center 4 was received (step S140). Thevehicle 10 remains stopped until the departure signal is received. Whenreceiving the departure signal from the remote monitoring center 4, therestart control unit 28 performs the processing for departure of thevehicle 10 (step S150), and makes the vehicle 10 run at reduced speedfor the predetermined time after the departure (step S160).

According to the remote monitoring method of the example performed inthe above-mentioned procedure, the similar effect as in the remotemonitoring method of 1st embodiment can be obtained. Furthermore,according to the remote monitoring method of the example, if thecommunication between the vehicle 10 and the remote monitoring center 4is interrupted, the vehicle 10 automatically stops. Therefore, it canensure the safety in the situation in which the remote surveillance ofthe remote monitoring center 4 does not function.

Note that the other aspect of the preferred embodiments may be lead fromthe example as follows:

An autonomous running vehicle, which is connected to the remotemonitoring center through a network and can be remotely operated by aremote monitoring center, comprises;

-   -   a camera which photographs an environment of the autonomous        running vehicle;    -   a camera image transmitter section which transmits an image        around the autonomous running vehicle photographed by the camera        to the remote monitoring center;    -   a stop control unit which makes the autonomous running vehicle        automatically stop when the communication between the autonomous        running vehicle and the remote monitoring center is interrupted;    -   a ravel restart control unit which restarts a run of the        autonomous running vehicle when receiving a departure signal        from the remote monitoring center after automatic stop the        autonomous running vehicle by the stop control unit;

What is claimed is:
 1. A remote monitoring system comprising: a vehiclewhich can autonomously run; and a remote monitoring center whichcommunicates with the vehicle through a network, wherein the vehiclecomprises; an autonomous sensor recognizing a peripheral environment ofthe vehicle; a data transmitter section configured to transmit datarecognized by the autonomous sensor to the remote monitoring center; anobstacle detection part configured to detect an obstacle in front of acourse of the vehicle based on information obtained by the autonomoussensor; a stop control unit configured to stop the vehicle based ondetection of an obstacle by the obstacle detection part; and a restartcontrol unit configured to be capable of restarting running of thevehicle when a departure permitting signal from the remote monitoringcenter is received after the vehicle is stopped by the stop controlunit; and wherein the remote monitoring center comprises: a displaydisplaying an image around the vehicle based on the data from the datatransmitter section; and a human machine interface receiving an input ofan instruction to permit to restart the running of the vehicle, and theremote monitoring center is configured to send the departure permittingsignal to the vehicle when the human machine interface receives theinput of the instruction to permit the restarting the running of thevehicle.
 2. The remote monitoring system according to claim 1, whereinthe stop control unit is configured; to run the vehicle at reduced speedbased on detection of an obstacle by the obstacle detection part; and tostop the vehicle when the communication with the remote monitoringcenter is interrupted.
 3. The remote monitoring system according toclaim 1, wherein the restart control unit is configured to keep thevehicle running at reduced speed for predetermined time after restartingthe running of the vehicle.
 4. The remote monitoring system according toclaim 3, wherein the restart control unit is configured; to run thevehicle at reduced speed while the departure permitting signal isreceived from the remote monitoring center, and to stop the vehicle whenthe departure permitting signal from the remote monitoring center isinterrupted.
 5. The remote monitoring system according to claim 1,wherein the restart control unit is configured to restart the running ofthe vehicle, when the obstacle is not detected by the obstacle detectionpart after the vehicle is stopped by the stop control unit.
 6. Theremote monitoring system according to claim 1, wherein the obstacledetection part is configured to, when communication with the remotemonitoring center is interrupted, change a threshold value of obstacledetection so as to reduce non-detection and to permit erroneousdetection compared with the case that communication with the remotemonitoring center is established.
 7. The remote monitoring systemaccording to claim 1, wherein the remote monitoring center isconfigured, when the vehicle approaches place of which safety isconfirmed by the remote monitoring center, to notify the vehicle of thesafety of the place, and wherein the stop control unit is configured,when the obstacle detection part detects an obstacle in the place ofwhich safety is notified from the remote monitoring center, to determinethat the detection of the obstacle is erroneous detection and to preventthe vehicle from being stopped.
 8. A remote monitoring systemcomprising: a vehicle which can autonomously run; and a remotemonitoring center which communicates with the vehicle through a network,wherein the vehicle comprises; an autonomous sensor and recognizing aperipheral environment of the vehicle; a data transmitter sectionconfigured to transmit data recognized by the autonomous sensor to theremote monitoring center; an obstacle detection part configured todetect an obstacle in front of a course of the vehicle based oninformation obtained by the autonomous sensor; a stop control unitconfigured to stop the vehicle based on detection of an obstacle by theobstacle detection part; and a restart control unit configured to becapable of restarting running of the vehicle when a departure permittingsignal from the remote monitoring center is received after the vehicleis stopped by the stop control unit; and wherein the remote monitoringcenter is configured to determine whether or not the run of the vehicleis permitted to restart the running of vehicle based on data from thedata transmitter section when the vehicle stops; and to send thedeparture permitting signal to the vehicle when determining that therunning of the vehicle is permitted to restart.
 9. A vehicle controldevice which is connected to a remote monitoring center through anetwork and makes a vehicle autonomously run, the vehicle control devicecomprising: an autonomous sensor recognizing a peripheral environment ofthe vehicle; a data transmitter section configured to transmit datarecognized by the autonomous sensor to the remote monitoring center; anobstacle detection part configured to detect an obstacle in front of acourse of the vehicle based on information obtained by the autonomoussensor; a stop control unit configured to stop the vehicle based ondetection of an obstacle by the obstacle detection part; and a restartcontrol unit configured to be capable of restarting running of thevehicle when a departure permitting signal from the remote monitoringcenter is received after the vehicle is stopped by the stop controlunit.
 10. The vehicle control device according to claim 9, wherein thestop control unit is configured: based on detection of an obstacle, torun the vehicle at reduced speed; and when the communication with theremote monitoring center is interrupted, to stop the vehicle.
 11. Thevehicle control device according to claim 9, wherein the restart controlunit is configured to keep the vehicle running at reduced speed forpredetermined time after restarting the running of the vehicle.
 12. Thecontrol device vehicle according to claim 11, wherein the restartcontrol unit is configured: to run the vehicle at reduced speed whilethe departure permitting signal is received from the remote monitoringcenter, and to stop the vehicle when the departure permitting signalfrom the remote monitoring center is interrupted.
 13. The control devicevehicle according to claim 9, wherein the restart control unit isconfigured to restart the running of the vehicle, when the obstacle isnot detected by the obstacle detection part after the vehicle is stoppedby the stop control unit.
 14. The control device vehicle according toclaim 9, wherein the obstacle detection part is configured to, whencommunication with the remote monitoring center is interrupted, change athreshold value of obstacle detection so as to reduce non-detectionwhereas to permit erroneous detection compared with the case thatcommunication with the remote monitoring center is established.
 15. Thecontrol device vehicle according to claim 9, wherein the remotemonitoring center is configured, when the vehicle approaches place ofwhich safety is confirmed by the remote monitoring center, to notify thevehicle of the safety of the place, and wherein the stop control unit isconfigured, when the obstacle detection part detects an obstacle inplace of which safety is notified from the remote monitoring center, todetermine that the detection of the obstacle is erroneous detection andto prevent the vehicle from being stopped.
 16. A remote monitoringmethod for controlling an autonomous run of a vehicle, the remotemonitoring method comprising; by the in-vehicle computer, transmittingdata recognized by an autonomous sensor to a computer of a remotemonitoring center; detecting an obstacle in front of a course of thevehicle based on information obtained by the autonomous sensor; stoppingthe vehicle based on detection of an obstacle; and restarting running ofthe vehicle when a departure permitting signal from the computer of theremote monitoring center is received; and by the computer of the remotemonitoring center, when the vehicle is stopped based on the detection ofthe obstacle, displaying an image around the vehicle based on the datafrom the in-vehicle computer; receiving an input of an instruction topermit to restart the running of the vehicle, and transmitting to thein-vehicle computer the departure permitting signal for permitting torestart the running of the vehicle.
 17. The remote monitoring methodaccording to claim 16, further comprising; by the in-vehicle computer,when an obstacle is detected, running the vehicle at reduced speed, andstopping the vehicle when the communication between the in-vehiclecomputer and the computer of the remote monitoring center isinterrupted.
 18. The remote monitoring method according to claim 16,wherein, when restarting the running of the vehicle, the vehicle runs atreduced speed for predetermined time after restarting the running of thevehicle.
 19. The remote monitoring method according to claim 18, furthercomprising; by the in-vehicle computer, when restarting the running ofthe vehicle, running the vehicle at reduced speed only while thedeparture permitting signal from the remote monitoring center isreceived, and stopping the vehicle when the departure permitting signalfrom the remote monitoring center is interrupted.
 20. The remotemonitoring method of claim 16, further comprising; by the in-vehiclecomputer, when restarting the running of the vehicle, when the obstacleis not detected after the vehicle is stopped based on the detection ofthe obstacle , restarting the running of the vehicle is restarted. 21.The remote monitoring method of claim 16, further comprising; by thein-vehicle computer, when the communication with the remote monitoringcenter is interrupted, changing a threshold value of obstacle detectionso as to reduce non-detection and to permit erroneous detection comparedwith the case that the communication with the remote monitoring centeris established.
 22. The remote monitoring method of claim 16, furthercomprising; by the computer of the remote monitoring center, when thevehicle approaches place of which safety is confirmed with the remotemonitoring center, notifying the in-vehicle computer of the safety ofthe place, and by the in-vehicle computer, not stopping the vehicle, inthe place of which safety is notified from the computer of the remotemonitoring center even if an obstacle is detected in the place.
 23. Acontrol method for controlling autonomous running of a vehicle, thecontrol method comprising: by an in-vehicle computer, transmitting datarecognized by an autonomous sensor of the vehicle to a computer of aremote monitoring center; detecting an obstacle in front of a course ofthe vehicle based on information obtained by the autonomous sensor;stopping the vehicle based on detection of an obstacle, and restartingrunning of the vehicle after a departure permitting signal from thecomputer of the remote monitoring center is received.